摘要
惯导系统原位标定是提高恒战状态下惯导性能的重要手段。在原位标定输入输出观测数据均含有噪声的情况下,应用传统的最小二乘法进行参数辨识将会得到有偏的结果。因此,为了提高惯导误差参数的标定精度,研究了总体最小二乘法在惯导原位标定数据处理中的应用。首先给出一种16位置标定方案,推导了考虑框架轴、陀螺和加速度计安装误差的惯导系统误差模型,讨论了总体最小二乘法,并分别应用最小二乘法和总体最小二乘法辨识惯导系统的36项误差参数。仿真表明,总体最小二乘法对误差参数的辨识效果优于传统的最小二乘法,满足原位标定精度的要求。
In-situ calibration of INS is one of the important approaches for increasing the effectiveness of inertial systems in wartime.If both of the input and output data in in-situ calibration contain have noises,the result will be a biased one when the traditional least squares method is used for parameter identification.To improve the calibration precision of INS,the application of Total Least Squares（TLS） in data processing of in-situ calibration was studied.Firstly,a 16-position calibration scheme was given,and the error model suited for in-situ calibration was derived with consideration of the mounting errors of frame,gyro and accelerometer.The least squares method and TLS were used respectively to identify 36 items of error parameters.The simulation results show that the efficiency of TLS is better,which can meet the accuracy requirement in in-situ calibration.
出处
《电光与控制》
北大核心
2011年第4期89-92,共4页
Electronics Optics & Control
关键词
惯导系统
原位标定
总体最小二乘法
参数辨识
INS
in-situ calibration
total least squares method
parameter identification
